Re: KITTI 00 sequence & rtabmap.

Posted by Mikor on
URL: http://official-rtab-map-forum.206.s1.nabble.com/KITTI-00-sequence-rtabmap-tp7625p7681.html

Hi Mathieu,

I try to use the rtabmap-kitti_dataset tool with scan only option enabled.

rtabmap-kitti_dataset \
      --scan_only	\
      --Reg/Strategy 1 \
      --RGBD/Enabled false\
      --RGBD/CreateOccupancyGrid false \
      --Rtabmap/DetectionRate 2 \
      --Odom/ScanKeyFrameThr 0.8 \
      --OdomF2M/ScanMaxSize 10000  \
      --OdomF2M/ScanSubtractRadius 0.5   \
      --Icp/PM true \
      --Icp/VoxelSize 0.5   \
      --Icp/MaxTranslation 2   \
      --Icp/MaxCorrespondenceDistance 1.5 \
      --Icp/PMOutlierRatio 0.7 \
      --Icp/Iterations 10 \
      --Icp/PointToPlane false \
      --Icp/PMMatcherKnn 3 \
      --Icp/PMMatcherEpsilon 1 \
      --Icp/Epsilon 0.0001 \
      --Icp/PointToPlaneK 0 \
      --Icp/PointToPlaneRadius 0 \
      --icp_odometry:=true \
      --Icp/CorrespondenceRatio 0.01 \
      --gt "/home/antonis/07/07.txt" \
      /home/antonis/07

This is the parameters I set but I get this output

Paths:
   Sequence number:  07
   Sequence path:    /home/antonis/07
   Output:           /home/antonis/07
   Output name:      rtabmap
   left images:      /home/antonis/07/image_0
   right images:     /home/antonis/07/image_1
   calib.txt:        /home/antonis/07/calib.txt
   times.txt:        /home/antonis/07/times.txt
   Ground Truth:      /home/antonis/07/07.txt
   Exposure Compensation: false
   Disparity:         false
   Scan:               /home/antonis/07/velodyne
   Scan only:          true
   Scan step:          1
   Scan voxel:         0.500000m
   Scan normal k:      0
   Scan normal radius: 0.000000
Saved calibration "rtabmap_calib" to "/home/antonis/07"
Parameters:
   Icp/CorrespondenceRatio=0.01
   Icp/Epsilon=0.0001
   Icp/Iterations=10
   Icp/MaxCorrespondenceDistance=1.5
   Icp/MaxTranslation=2
   Icp/PM=true
   Icp/PMMatcherEpsilon=1
   Icp/PMMatcherKnn=3
   Icp/PMOutlierRatio=0.7
   Icp/PointToPlane=false
   Icp/PointToPlaneK=0
   Icp/PointToPlaneRadius=0
   Icp/VoxelSize=0.5
   Odom/ScanKeyFrameThr=0.8
   OdomF2M/ScanMaxSize=10000
   OdomF2M/ScanSubtractRadius=0.5
   RGBD/CreateOccupancyGrid=false
   RGBD/Enabled=false
   Reg/Strategy=1
   Rtabmap/DetectionRate=2
   Rtabmap/PublishRAMUsage=true
   Rtabmap/WorkingDirectory=/home/antonis/07
RTAB-Map version: 0.20.9
Processing 1101 images...
[ WARN] (2021-03-17 14:26:03.964) OdometryF2M.cpp:164::OdometryF2M() OdomF2M/BundleAdjustment=1 cannot be used with registration not done only with images (Reg/Strategy=1), disabling bundle adjustment.
Iteration 1/1101: speed=0km/h camera=31ms, odom(quality=0.000000, kfs=1)=0ms, slam=25ms, rmse=0.000000m
Iteration 2/1101: speed=3km/h camera=34ms, odom(quality=0.943217, kfs=1)=154ms, slam=0ms, rmse=0.000000m
Iteration 3/1101: speed=2km/h camera=17ms, odom(quality=0.914549, kfs=1)=122ms, slam=0ms, rmse=0.000000m
Iteration 4/1101: speed=2km/h camera=28ms, odom(quality=0.918854, kfs=1)=132ms, slam=0ms, rmse=0.000000m
Iteration 5/1101: speed=6km/h camera=34ms, odom(quality=0.917901, kfs=1)=129ms, slam=0ms, rmse=0.000000m
Iteration 6/1101: speed=3km/h camera=27ms, odom(quality=0.892217, kfs=1)=125ms, slam=7ms, rmse=0.000000m
Iteration 7/1101: speed=3km/h camera=16ms, odom(quality=0.907208, kfs=1)=115ms, slam=0ms, rmse=0.000000m
Iteration 8/1101: speed=5km/h camera=27ms, odom(quality=0.910995, kfs=1)=100ms, slam=0ms, rmse=0.000000m
Iteration 9/1101: speed=5km/h camera=21ms, odom(quality=0.896019, kfs=1)=100ms, slam=0ms, rmse=0.000000m
Iteration 10/1101: speed=5km/h camera=26ms, odom(quality=0.882009, kfs=1)=97ms, slam=0ms, rmse=0.000000m
Iteration 11/1101: speed=5km/h camera=23ms, odom(quality=0.873261, kfs=1)=128ms, slam=14ms, rmse=0.000000m
Iteration 12/1101: speed=5km/h camera=34ms, odom(quality=0.844877, kfs=1)=133ms, slam=0ms, rmse=0.000000m
Iteration 13/1101: speed=6km/h camera=27ms, odom(quality=0.841638, kfs=1)=137ms, slam=0ms, rmse=0.000000m

And it goes on until it prints this:

Iteration 1100/1101: speed=0km/h camera=18ms, odom(quality=0.881621, kfs=63)=197ms, slam=0ms, rmse=0.000000m
Iteration 1101/1101: speed=0km/h camera=18ms, odom(quality=0.879493, kfs=63)=193ms, slam=8ms, rmse=0.000000m
Total time=214.098361s
Saving trajectory ...
Saving /home/antonis/07/rtabmap_poses.txt... failed!
Ground truth comparison:
   KITTI t_err = -nan %
   KITTI r_err = -nan deg/m
   translational_rmse=   0.000000 m
   rotational_rmse=      0.000000 deg
Saving rtabmap database (with all statistics) to "/home/antonis/07/rtabmap.db"
Do:
 $ rtabmap-databaseViewer /home/antonis/07/rtabmap.db

Any ideas about what I do wrong ?